robokudo.vis.o3d_visualizer
===========================

.. py:module:: robokudo.vis.o3d_visualizer

.. autoapi-nested-parse::

   Open3D-based visualization for RoboKudo pipelines.

   This module provides 3D visualization capabilities for RoboKudo pipelines using Open3D.
   It handles:

   * 3D geometry visualization
   * Point cloud rendering
   * Camera control
   * Coordinate frame display
   * Window management

   Dependencies
   -----------
   * open3d for 3D visualization
   * logging for status messages
   * robokudo.annotators for annotator access
   * robokudo.vis.visualizer for base visualization interface

   See Also
   --------
   * :mod:`robokudo.vis.visualizer` : Base visualization interface
   * :mod:`robokudo.vis.cv_visualizer` : 2D visualization
   * :mod:`robokudo.vis.ros_visualizer` : ROS-based visualization



Classes
-------

.. autoapisummary::

   robokudo.vis.o3d_visualizer.O3DVisualizer
   robokudo.vis.o3d_visualizer.Viewer3D


Module Contents
---------------

.. py:class:: O3DVisualizer(*args, **kwargs)

   Bases: :py:obj:`robokudo.vis.visualizer.Visualizer`, :py:obj:`robokudo.vis.visualizer.Visualizer.Observer`


   Open3D-based visualizer for 3D geometry data.

   This class provides visualization of 3D geometry data from pipeline annotators using
   Open3D windows. It supports:

   * 3D geometry visualization
   * Point cloud rendering
   * Camera control
   * Coordinate frame display
   * Shared visualization state

   Parameters
   ----------
   *args
       Variable length argument list passed to parent classes
   **kwargs
       Arbitrary keyword arguments passed to parent classes

   Attributes
   ----------
   viewer3d : Viewer3D
       Open3D viewer instance
   shared_visualizer_state : Visualizer.SharedState
       Shared state object for coordinating between visualizers
   update_output : bool
       Flag indicating if display needs updating


   .. py:attribute:: viewer3d
      :value: None



   .. py:method:: notify(observable, *args, **kwargs)

      Handle notification of state changes.

      Parameters
      ----------
      observable : object
          The object that sent the notification
      *args
          Variable length argument list
      **kwargs
          Arbitrary keyword arguments



   .. py:method:: tick()

      Update the visualization display.

      This method:

      * Initializes viewer if needed
      * Gets current annotator outputs
      * Updates display if needed
      * Handles viewer lifecycle

      Returns
      -------
      bool
          False if visualization should terminate, True otherwise



   .. py:method:: window_title()

      Get the window title for this visualizer.

      Returns
      -------
      str
          Window title in format "RoboKudo/pipeline_name"

      Notes
      -----
      .. todo::
         Refactor with CVVisualizer



.. py:class:: Viewer3D(title)

   Bases: :py:obj:`object`


   Open3D viewer wrapper for 3D visualization.

   This class wraps the Open3D visualization functionality to provide:

   * Window management
   * Geometry updates
   * Camera control
   * Coordinate frame display

   Parameters
   ----------
   title : str
       Window title for the viewer

   Attributes
   ----------
   first_cloud : bool
       Flag indicating if this is the first cloud being displayed
   CLOUD_NAME : str
       Name identifier for the point cloud
   rk_logger : logging.Logger
       Logger instance
   main_vis : o3d.visualization.O3DVisualizer
       Open3D visualizer instance
   visualized_geometries : list
       Names of currently visualized geometries


   .. py:attribute:: first_cloud
      :value: True



   .. py:attribute:: CLOUD_NAME
      :value: 'Viewer3D'



   .. py:attribute:: rk_logger
      :value: None



   .. py:attribute:: main_vis


   .. py:attribute:: visualized_geometries
      :value: []



   .. py:method:: tick()

      Update the viewer display.

      Returns
      -------
      bool
          False if visualization should terminate, True otherwise



   .. py:method:: update_cloud(geometries)

      Update the displayed geometries.

      This method updates the Open3D visualizer based on the outputs of the annotators.
      For the first update, it also sets up the camera and coordinate frame.

      Parameters
      ----------
      geometries : Union[o3d.geometry.Geometry3D, dict, list, None]
          Geometries to display. Can be:
          
          * A single geometry object
          * A dict with geometry configuration
          * A list of geometries or dicts
          * None to clear display

      Notes
      -----
      The dict format follows Open3D's draw() convention. See:
      https://github.com/isl-org/Open3D/blob/master/examples/python/visualization/draw.py